1 citations · 1 across the 7 of their papers we have counts for
8 papers · 1 filter
Many-RRT*: Robust Joint-Space Trajectory Planning for Serial Manipulators
Theodore M. Belmont, Benjamin A. Christie, Anton Netchaev
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-…
From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO
Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri +2
Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- th…
Language Movement Primitives: Grounding Language Models in Robot Motion
Yinlong Dai, Benjamin A. Christie, Daniel J. Evans +2
Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized prob…
Fine-Tuning Robot Policies While Maintaining User Privacy
Benjamin A. Christie, Sagar Parekh, Dylan P. Losey
Recent works introduce general-purpose robot policies. These policies provide a strong prior over how robots should behave -- e.g., how a robot arm should manipulate food items. Bu…
Safe Interactions via Monte Carlo Linear-Quadratic Games
Benjamin A. Christie, Dylan P. Losey
Safety is critical during human-robot interaction. But -- because people are inherently unpredictable -- it is often difficult for robots to plan safe behaviors. Instead of relying…
Aligning Learning with Communication in Shared Autonomy
Joshua Hoegerman, Shahabedin Sagheb, Benjamin A. Christie +1
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The rob…